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Package Summary

Documented

pykdl_utils contains kdl_parser.py, for parsing URDF objects
from the robot_model_py stack into PyKDL trees and chains,
and kdl_kinematics.py, for wrapping KDL kinematics calls, making
kinematics requests in Python far simpler. jointspace_kdl_kin.py
also contains a KDLKinematics superclass which subscribes to /joint_states,
automatically filling the FK and jacobian requests with the current joint
angles.

Package Summary

Documented

pykdl_utils contains kdl_parser.py, for parsing URDF objects
from the robot_model_py stack into PyKDL trees and chains,
and kdl_kinematics.py, for wrapping KDL kinematics calls, making
kinematics requests in Python far simpler. jointspace_kdl_kin.py
also contains a KDLKinematics superclass which subscribes to /joint_states,
automatically filling the FK and jacobian requests with the current joint
angles.